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<div class="title">pfhrgb.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_PFHRGB_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_PFHRGB_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfhrgb.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<a class="code" href="classpcl_1_1_p_f_h_r_g_b_estimation.html">pcl::PFHRGBEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeRGBPairFeatures</a> (</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> q_idx,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4, <span class="keywordtype">float</span> &amp;f5, <span class="keywordtype">float</span> &amp;f6, <span class="keywordtype">float</span> &amp;f7)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  Eigen::Vector4i colors1 (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].r, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].g, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].b, 0),</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      colors2 (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].r, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].g, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].b, 0);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  pcl::computeRGBPairFeatures (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[p_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                               colors1,</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                               cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getVector4fMap (), normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[q_idx].getNormalVector4fMap (),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                               colors2,</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                               f1, f2, f3, f4, f5, f6, f7);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<a class="code" href="classpcl_1_1_p_f_h_r_g_b_estimation.html">pcl::PFHRGBEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePointPFHRGBSignature</a> (</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keywordtype">int</span> nr_split, Eigen::VectorXf &amp;pfhrgb_histogram)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">int</span> h_index, h_p;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// Clear the resultant point histogram</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  pfhrgb_histogram.setZero ();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// Factorization constant</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">float</span> hist_incr = 100.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (indices.size () * (indices.size () - 1) / 2);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Iterate over all the points in the neighborhood</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; indices.size (); ++i_idx)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j_idx = 0; j_idx &lt; indices.size (); ++j_idx)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="comment">// Avoid unnecessary returns</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">if</span> (i_idx == j_idx)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="comment">// Compute the pair NNi to NNj</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">if</span> (!computeRGBPairFeatures (cloud, normals, indices[i_idx], indices[j_idx],</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                   pfhrgb_tuple_[0], pfhrgb_tuple_[1], pfhrgb_tuple_[2], pfhrgb_tuple_[3],</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                                   pfhrgb_tuple_[4], pfhrgb_tuple_[5], pfhrgb_tuple_[6]))</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="comment">// Normalize the f1, f2, f3, f5, f6, f7 features and push them in the histogram</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      f_index_[0] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[0] + M_PI) * d_pi_)));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordflow">if</span> (f_index_[0] &lt; 0)         f_index_[0] = 0;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordflow">if</span> (f_index_[0] &gt;= nr_split) f_index_[0] = nr_split - 1;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      f_index_[1] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[1] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordflow">if</span> (f_index_[1] &lt; 0)         f_index_[1] = 0;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">if</span> (f_index_[1] &gt;= nr_split) f_index_[1] = nr_split - 1;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      f_index_[2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[2] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordflow">if</span> (f_index_[2] &lt; 0)         f_index_[2] = 0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordflow">if</span> (f_index_[2] &gt;= nr_split) f_index_[2] = nr_split - 1;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// color ratios are in [-1, 1]</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      f_index_[4] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[4] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordflow">if</span> (f_index_[4] &lt; 0)         f_index_[4] = 0;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">if</span> (f_index_[4] &gt;= nr_split) f_index_[4] = nr_split - 1;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      f_index_[5] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[5] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">if</span> (f_index_[5] &lt; 0)         f_index_[5] = 0;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordflow">if</span> (f_index_[5] &gt;= nr_split) f_index_[5] = nr_split - 1;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      f_index_[6] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_split * ((pfhrgb_tuple_[6] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordflow">if</span> (f_index_[6] &lt; 0)         f_index_[6] = 0;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">if</span> (f_index_[6] &gt;= nr_split) f_index_[6] = nr_split - 1;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">// Copy into the histogram</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      h_p     = 1;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        h_index += h_p * f_index_[d];</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        h_p     *= nr_split;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      pfhrgb_histogram[h_index] += hist_incr;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="comment">// and the colors</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      h_index = 125;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      h_p     = 1;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 4; d &lt; 7; ++d)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        h_index += h_p * f_index_[d];</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        h_p     *= nr_split;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      pfhrgb_histogram[h_index] += hist_incr;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_f_h_r_g_b_estimation.html#ac2922334b1f9739e651978cadc391341">  143</a></span>&#160;<a class="code" href="classpcl_1_1_p_f_h_r_g_b_estimation.html#ac2922334b1f9739e651978cadc391341">pcl::PFHRGBEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  pfhrgb_histogram_.setZero (2 * nr_subdiv_ * nr_subdiv_ * nr_subdiv_);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  pfhrgb_tuple_.setZero (7);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  std::vector&lt;int&gt; nn_indices (k_);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">// Estimate the PFH signature at each patch</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    computePointPFHRGBSignature (*surface_, *normals_, nn_indices, nr_subdiv_, pfhrgb_histogram_);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// Copy into the resultant cloud</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; pfhrgb_histogram_.size (); ++d) {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[idx].histogram[d] = pfhrgb_histogram_[d];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">//      PCL_INFO (&quot;%f &quot;, pfhrgb_histogram_[d]);</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="comment">//    PCL_INFO (&quot;\n&quot;);</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PFHRGBEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PFHRGBEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_FEATURES_IMPL_PFHRGB_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_r_g_b_estimation_html"><div class="ttname"><a href="classpcl_1_1_p_f_h_r_g_b_estimation.html">pcl::PFHRGBEstimation</a></div><div class="ttdef"><b>Definition:</b> pfhrgb.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_p_f_h_r_g_b_estimation_html_ac2922334b1f9739e651978cadc391341"><div class="ttname"><a href="classpcl_1_1_p_f_h_r_g_b_estimation.html#ac2922334b1f9739e651978cadc391341">pcl::PFHRGBEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Abstract feature estimation method.</div><div class="ttdef"><b>Definition:</b> pfhrgb.hpp:143</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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